揺動アーム位置決め機構の固有振動モード同相化・非干渉化設計

抄録

This paper describes an in-phase design method of Quasi-Rigid modes of swing-arm positioning-mechanism for high servo-band-width. Swing-arm is firstly assumed to be a rigid body that is supported with elastic pivot bearings. Position and number of driving-point are changed so that both of the lowest two natural modes of vibration move the same direction as the rigid body mode even when mass center of arm coincides with the pivot-coeter. The mode shape of the first bending vibration of arm is also considered at choice of position(s)of driving-point. Two types of positioning-mechanism, which are called BSAP and DESAP, are proposed. Frequency response function of proposed positioners is calculated with the Finite Element Method models in which elasticity of arm is considered. It is concluded that servo-band-width will increase by 25% or 60%.